Unmanned aerial vehicle

ABSTRACT

The embodiments is an unmanned aerial vehicle. The unmanned aerial vehicle includes: an airframe; and a fixed-wing assembly and a rotor assembly, both replaceably connected to the airframe. The fixed-wing assembly is connected to the airframe to form a vertical take-off and landing fixed-wing unmanned aerial vehicle and the rotor assembly is connected to the airframe to form a multi-rotor unmanned aerial vehicle, thereby implementing an unmanned aerial vehicle that can switch between the vertical take-off and landing fixed-wing unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of International ApplicationNo. PCT/CN2020/123316, filed on Oct. 23, 2020, which claims priority toChinese patent application No. 201911014063.1, filed on Oct. 23, 2019,which is incorporated herein by reference in its entirety.

TECHNICAL FIELD

The present application relates to the field of unmanned aerialvehicles, and in particular, to an unmanned aerial vehicle.

BACKGROUND

A vertical take-off and landing fixed-wing unmanned aerial vehicle mayachieve properties of vertical take-off and landing and enduring flightwith a fixed wing by using a vertical take-off and landing system and apropulsion system, so that the vertical take-off and landing fixed-wingunmanned aerial vehicle may take off and land on any terrain and flyquickly through the fixed wing to perform long-endurance flightmissions. However, such a vertical take-off and landing fixed-wingunmanned aerial vehicle has weak wind resistance due to the large-sizedfixed wing.

A multi-rotor unmanned aerial vehicle may vertically take off and landby using a rotor system and may fly in all directions by changing arotation speed difference between rotors. The multi-rotor unmannedaerial vehicle has strong wind resistance but has short endurance and alow flight speed.

Therefore, users need to select corresponding models according torequirements.

SUMMARY

To resolve the foregoing technical problems, embodiments of the presentapplication provide an unmanned aerial vehicle that can switch between avertical take-off and landing fixed-wing unmanned aerial vehicle and amulti-rotor unmanned aerial vehicle.

To resolve the foregoing technical problems, the embodiments of thepresent application provide the following technical solutions:

An unmanned aerial vehicle is provided, including: an airframe; and afixed-wing assembly and a rotor assembly, both replaceably connected tothe airframe, where the fixed-wing assembly is connected to the airframeto form a vertical take-off and landing fixed-wing unmanned aerialvehicle and the rotor assembly is connected to the airframe to form amulti-rotor unmanned aerial vehicle.

In some embodiments, the airframe extends in a roll axis direction andincludes a vehicle head, a vehicle body and a vehicle tail sequentiallyarranged in the roll axis direction.

In some embodiments, first rotor motors are disposed on a side of theairframe in a yaw axis direction of the airframe; and a rotary shaft ofthe first rotor motor extends in the yaw axis direction.

In some embodiments, two first rotor motors are disposed on the side ofthe airframe in the yaw axis direction of the airframe; and one of thefirst rotor motors is disposed at the vehicle head or at a position onthe vehicle body close to the vehicle head and the other first rotormotor is disposed at the vehicle tail or at a position on the vehiclebody close to the vehicle tail.

In some embodiments, two antennas are further disposed on the side onwhich the first rotor motors are disposed in the yaw axis direction ofthe airframe; and the two antennas and the two first rotor motors areall arranged in the roll axis direction and the antennas and the firstrotor motors are disposed alternately.

In some embodiments, a lower vertical stabilizer is disposed on an otherside of the airframe facing away from the first rotor motors in the yawaxis direction of the airframe; and the lower vertical stabilizer isdisposed at the vehicle tail.

In some embodiments, a landing gear is further disposed on the otherside of the airframe facing away from the first rotor motors in the yawaxis direction of the airframe; and the landing gear includes twosupport portions and the two support portions and the lower verticalstabilizer are jointly configured to support the airframe.

In some embodiments, the airframe includes two first mounting portionsrespectively disposed on two sides of the airframe in a pitch axisdirection of the airframe; the rotor assembly includes two armcomponents, where each arm component includes a first assemblingportion, the first assembling portion being configured to be connectedto a corresponding second mounting portion; and the fixed-wing assemblyincludes two side wing components, where each side wing componentincludes a second assembling portion, the second assembling portionbeing configured to be connected to a corresponding first mountingportion.

In some embodiments, the each arm component further includes an arm bodyand a second rotor motor; and an end of the arm body is connected to thefirst assembling portion and an other end of the arm body is connectedto the second rotor motor.

In some embodiments, the arm body extends in the pitch axis direction.

In some embodiments, a rotary shaft of the second rotor motor extends inthe yaw axis direction.

In some embodiments, a second propeller is mounted on the rotary shaftof the second rotor motor; a first propeller is mounted on the rotaryshaft of the first rotor motor; and a size of the second propeller isequal to a size of the first propeller.

In some embodiments, the each side wing component further includes aside wing body, a wingtip and a third rotor motor; an end of the sidewing body is connected to the second assembling portion, an other end ofthe side wing body is connected to the wingtip and the third rotor motoris mounted on the wingtip; and the wingtip is rotatable relative to theside wing body around the pitch axis direction.

In some embodiments, a rotary shaft of the third rotor motor isperpendicular to the pitch axis direction.

In some embodiments, the side wing body extends in the pitch axisdirection.

In some embodiments, a third propeller is mounted on a rotary shaft ofthe third rotor motor; a first propeller is mounted on the rotary shaftof the first rotor motor; and a size of the third propeller is less thana size of the first propeller.

In some embodiments, each first mounting portion includes a firstmounting surface and connecting rods formed on the first mountingsurface, the first mounting surface facing away from the vehicle body,the connecting rods extending in the pitch axis direction; and either ofeach first assembling portion and each second assembling portionincludes a first assembling surface, a first side surface and eccentricwheels, where the first assembling surface is configured to be attachedto the first mounting surface and connecting holes are formed on thefirst assembling surface, the connecting holes being configured to beinserted by the connecting rods; the first side surface is adjacent tothe first assembling surface and rotating holes are formed on the firstside surface, the rotating hole including a rotation axis, the rotationaxis being perpendicular to the pitch axis direction; and the eccentricwheels are mounted in the rotating holes and are rotatable in therotating holes around the rotation axis, and the eccentric wheels areconfigured to lock the connecting rods to limit movement of theconnecting rods in the pitch axis direction away from the eccentricwheels.

In some embodiments, the each first mounting portion further includespositioning beams formed on the first mounting surface and extending inthe pitch axis direction, a cross-section of the positioning beam beingnon-circular; and positioning holes are further formed on the firstassembling surface, the positioning holes matching the positioning beamsand being configured to be inserted by the positioning beams.

In some embodiments, the each first mounting portion further includes afirst plug-connection terminal disposed on the first mounting surface;and either of the each first assembling portion and the each secondassembling portion further includes a second plug-connection terminalconfigured to be plug-connected to the first plug-connection terminal.

In some embodiments, the first mounting portion is plug-connected to andis fixed, by using a threaded fastener, to the first assembling portionand/or the second assembling portion.

In some embodiments, the unmanned aerial vehicle further includes a tailwing assembly detachably connected to the airframe; and both the lowervertical stabilizer and the fixed-wing assembly are connected to theairframe to form the vertical take-off and landing fixed-wing unmannedaerial vehicle.

In some embodiments, the tail wing assembly is rotatable relative to theairframe around the pitch axis direction when the tail wing assembly isconnected to the airframe.

In some embodiments, two second mounting portions are disposed on theairframe; the two second mounting portions are respectively disposed ontwo sides of the airframe in the pitch axis direction of the airframe,each of the second mounting portions includes a second mounting surface,and a shaft hole and an arc-shaped guide hole are jointly formed on thetwo second mounting portions, both the shaft hole and the arc-shapedguide hole passing through second mounting surfaces of the two secondmounting portions, the shaft hole being provided in the pitch axisdirection and the arc-shaped guide hole being provided around the shafthole; the tail wing assembly includes a rotary shaft, a transmissionshaft and two tail wing components; and the rotary shaft is configuredto be inserted into the shaft hole and has two ends both exposed outsidethe shaft hole; the transmission shaft is configured to be inserted intothe arc-shaped guide hole and has two ends both exposed outside thearc-shaped guide hole; each tail wing component includes a secondassembling surface for being in contact with a second mounting surfaceof a corresponding second mounting portion, a first plug-connection holeand a second plug-connection hole being formed on the second assemblingsurface, the first plug-connection hole being configured to be insertedby a corresponding end of the rotary shaft and the secondplug-connection hole being configured to be inserted by a correspondingend of the transmission shaft.

Compared with the prior art, in the unmanned aerial vehicle in theembodiments of the present application, the fixed-wing assembly and therotor assembly are replaceably connected to the airframe, so that thefixed-wing assembly is connected to the airframe to form the verticaltake-off and landing fixed-wing unmanned aerial vehicle, and the rotorassembly is connected to the airframe to form the multi-rotor unmannedaerial vehicle, thereby implementing an unmanned aerial vehicle that canswitch between the vertical take-off and landing fixed-wing unmannedaerial vehicle and the multi-rotor unmanned aerial vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments are exemplarily described with reference to thecorresponding figures in the accompanying drawings, and the exemplarydescriptions are not to be construed as limiting the embodiments.Elements in the accompanying drawings that have same reference numeralsare represented as similar elements, and unless otherwise particularlystated, the figures in the accompanying drawings are not drawn to scale.

FIG. 1 is a schematic structural diagram of an unmanned aerial vehiclein a configuration of a multi-rotor unmanned aerial vehicle according toan embodiment of the present application.

FIG. 2 is a schematic exploded view of the multi-rotor unmanned aerialvehicle shown in FIG. 1.

FIG. 3 is a schematic structural diagram of an unmanned aerial vehiclein a configuration of a vertical take-off and landing fixed-wingunmanned aerial vehicle according to an embodiment of the presentapplication.

FIG. 4 is a schematic exploded view of the vertical take-off and landingfixed-wing unmanned aerial vehicle shown in FIG. 3.

FIG. 5 is a schematic structural diagram of an airframe of themulti-rotor unmanned aerial vehicle shown in FIG. 1 or the verticaltake-off and landing fixed-wing unmanned aerial vehicle shown in FIG. 3.

FIG. 6 is a first partial view of the airframe shown in FIG. 5, whichmainly shows one first mounting portion of the airframe.

FIG. 7 is a partial view of the first mounting portion shown in FIG. 5,which mainly shows one connecting rod of the first mounting portion.

FIG. 8 is a second partial view of the airframe shown in FIG. 6, whichmainly shows two first mounting portions of the airframe.

FIG. 9 is a third partial view of the airframe shown in FIG. 5, whichmainly shows one second mounting portion of the airframe.

FIG. 10 is a fourth partial view of the airframe shown in FIG. 8, whichmainly shows two second mounting portions of the airframe.

FIG. 11 is a schematic structural diagram of a rotor assembly of themulti-rotor unmanned aerial vehicle shown in FIG. 2.

FIG. 12 is a partial view of one arm component of the rotor assemblyshown in FIG. 11, which mainly shows a first assembling portion of thearm component.

FIG. 13 is a cross-sectional view of the first assembling portion of therotor assembly shown in FIG. 12, which mainly shows a rotating hole, aneccentric wheel and a closure cover of the first assembling portion.

FIG. 14 is a schematic structural diagram of the eccentric wheel shownin FIG. 13.

FIG. 15 is a schematic structural diagram of a fixed-wing assembly ofthe vertical take-off and landing fixed-wing unmanned aerial vehicleshown in FIG. 4, where a third rotor motor of the fixed-wing assembly islocated at a first position.

FIG. 16 is a three-dimensional view of one side wing component of thefixed-wing assembly shown in FIG. 15, where the third rotor motor of theside wing component is located at a second position.

FIG. 17 is a schematic structural diagram of a tail wing assembly of thevertical take-off and landing fixed-wing unmanned aerial vehicle shownin FIG. 4.

DETAILED DESCRIPTION

For ease of understanding of the present application, the presentapplication is described below in more detail with reference toaccompanying drawings and specific implementations. It should be notedthat, when one component is expressed as “being fixed to” anothercomponent, the component may be directly on the another component, orone or more intermediate components may exist between the component andthe another component. When one component is expressed as “beingconnected to” another component, the component may be directly connectedto the another component, or one or more intermediate components mayexist between the component and the another component. The terms“vertical”, “horizontal”, “left”, “right”, “inside”, “outside” andsimilar expressions used in this specification are merely used for anillustrative purpose.

Unless otherwise defined, meanings of all technical and scientific termsused in this specification are the same as those usually understood by aperson skilled in art of the present application. Terms used in thisspecification of the present application are merely intended to describeobjectives of the specific implementations, and are not intended tolimit the present application. A term “and/or” used in thisspecification includes any or all combinations of one or more relatedlisted items.

FIG. 1 to FIG. 4 show an unmanned aerial vehicle 100 provided in anembodiment of the present application. The unmanned aerial vehicle 100includes an airframe 10, a rotor assembly 20, a fixed-wing assembly 30and a tail wing assembly 40. The rotor assembly 20 and the fixed-wingassembly 30 are replaceably connected to the airframe 10. The tail wingassembly 40 is detachably connected to the airframe 10.

The rotor assembly 20 and the airframe 10 jointly form a multi-rotorunmanned aerial vehicle when the rotor assembly 20 is connected to theairframe 10. The multi-rotor unmanned aerial vehicle is shown in FIG. 1.

The fixed-wing assembly 30, the tail wing assembly 40 and the airframe10 jointly form a vertical take-off and landing fixed-wing unmannedaerial vehicle when both the fixed-wing assembly 30 and the tail wingassembly 40 are connected to the airframe 10. The vertical take-off andlanding fixed-wing unmanned aerial vehicle is shown in FIG. 3.

Referring to FIG. 5 together, the airframe 10 is strip-shaped in a rollaxis direction y as a whole and includes a vehicle head 11, a vehiclebody 12 and a vehicle tail 13 sequentially arranged in the roll axisdirection y.

A circuit module (not shown in the figure) is configured in the airframe10. The circuit module includes a circuit board and a plurality ofelectronic components mounted on the circuit board. The circuit moduleis mainly configured to control electronic devices disposed outside theairframe 10 and the rotor assembly 20 or the fixed-wing assembly 30connected to the airframe 10.

The electronic devices disposed outside the airframe 10 include twofirst rotor motors 14 and two antennas 15. The two first rotor motors 14and the two antennas 15 are all disposed on a same side of the airframe10 in a yaw axis direction z of the airframe. One of the first rotormotors 14 is disposed on the vehicle head 11 or at a position on thevehicle body 12 close to the vehicle head 11. The other rotor motor 14is disposed on the vehicle tail 13 or at a position on the vehicle body12 close to the vehicle tail 13. The two first rotor motors 14 areconfigured to jointly provide lift. A rotary shaft of each first rotormotor 14 is disposed in the yaw axis direction z and a first propeller(not shown in the figure) is mounted on the rotary shaft.

It may be understood that a quantity of first rotor motors is notlimited to 2, which may be set according to an actual condition. Forexample, the quantity of first rotor motors may be smaller if theairframe has less load or the airframe is lighter; and the quantity offirst rotor motors may be larger if the airframe has more load or theairframe is heavier.

The two first rotor motors 14 and the two antennas 15 are all arrangedin the roll axis direction y. The antennas 15 and the first rotor motors14 are disposed alternately. The two antennas 15 are configured tojointly perform navigation and positioning for the unmanned aerialvehicle. Each antenna 15 may be a real-time kinematic (RTK) antenna.

It may be understood that, a quantity of antennas is not limited to 2,which may be more or less according to an actual condition.

A lower vertical stabilizer 16, a landing gear 17, two first mountingportions 18 and two second mounting portions 19 are further disposedoutside the airframe 10. Both the lower vertical stabilizer 16 and thelanding gear 17 are disposed on an other side of the airframe 10 facingaway from the two first rotor motors 14 in the yaw axis direction z ofthe airframe. The lower vertical stabilizer 16 is disposed at thevehicle tail 13. The landing gear 17 is disposed at the vehicle body 12.The landing gear 17 includes two support portions 170. The two supportportions 170 are inversely splayed and configured to support theairframe 10 together with the lower vertical stabilizer 16.

The two first mounting portions 18 are respectively disposed on twosides of the vehicle body 12 in a pitch axis direction x of the vehiclebody.

The two second mounting portions 19 are respectively disposed on twosides of the vehicle tail 13 in a pitch axis direction x of the vehicletail.

Referring to FIG. 6 together, one of the first mounting portions 18 isused as an example. The first mounting portion 18 includes a firstmounting body 180, two connecting rods 181, a positioning beam 182 and afirst plug-connection terminal 183. The first mounting body 180 isdisposed on a side of the vehicle body 12 in the pitch axis direction xof the vehicle body and includes a first mounting surface 1800. Thefirst mounting surface 1800 is disposed facing away from the vehiclebody 12. The two connecting rods 181, the positioning beam 182 and thefirst plug-connection terminal 183 are all formed on the first mountingsurface 1800. Each connecting rod 181 extends in the pitch axisdirection x. The positioning beam 182 extends in the pitch axisdirection x and has a hollow square cross-section. According to anactual condition, a cross-section of the positioning beam mayalternatively be designed into any other non-circular shape such as anellipse, a triangle or a pentagon. The first plug-connection terminal183 is electrically connected to the circuit module.

Referring to FIG. 7 together, one of the connecting rods 181 is used asan example. The connecting rod 181 includes a base 1810, a rod body 1811and a limiting body 1812. The base 1810 is formed on the first mountingsurface 1800. The rod body 1811 extends in the pitch axis direction xand has one end connected to the base 1810 and an other end connected tothe limiting body 1812. A cross-section size of the rod body 1811 isless than a cross-section size of the limiting body 1812. In thisembodiment, the limiting body 1812 is spherical. According to an actualcondition, the limiting body 1812 may be in any shape as long as thecross-section size of the limiting body is greater than thecross-section size of the rod body 1811.

In this embodiment, referring to FIG. 8 together, a cross beam 184passes through first mounting surfaces 1800 of two first mountingportions 18. Positioning beams 182 of the two first mounting portions 18are respectively formed at two ends of the cross beam 184. In some otherembodiments, the positioning beams 182 and the first mounting body 180may alternatively be integrally formed.

Referring to FIG. 9 and FIG. 10 together, each second mounting portion19 includes a second mounting surface 190. The second mounting surface190 is disposed facing away from the vehicle tail 13. A shaft hole 191and an arc-shaped guide hole 192 are jointly formed on two secondmounting portions 19. Both the shaft hole 191 and the arc-shaped guidehole 192 pass through the second mounting surfaces 190 of the two secondmounting portions 19. Both the shaft hole 191 and the arc-shaped guidehole 192 extend in the pitch axis direction x. The arc-shaped guide hole192 is provided around the shaft hole 191.

Referring to FIG. 11 together, the rotor assembly 20 includes armcomponents 21. A quantity of arm components 21 corresponds to a quantityof first mounting portions 18. Each arm component 21 is configured to beconnected to a corresponding first mounting portion 18. Using one of thearm components 21 as an example, the arm component 21 includes an armbody 22, a second rotor motor 23 and a first assembling portion 24. Thearm body 22 extends in the pitch axis direction x. One end of the armbody 22 is connected to the second rotor motor 23 and an other end ofthe arm body 22 is connected to the first assembling portion 24. The armbody 22 is hollow for wiring of the second rotor motor 23, toelectrically connect the second rotor motor 23 to the first assemblingportion 24. A rotary shaft of the second rotor motor 23 is disposed inthe yaw axis direction z and a second propeller (not shown in thefigure) is mounted on the rotary shaft. The second rotor motor 23 isconfigured to provide lift.

Referring to FIG. 12 together, the first assembling portion 24 isconfigured to be connected to a corresponding first mounting portion 18.The first assembling portion 24 includes an first assembling body 240,eccentric wheels 241 and a second plug-connection terminal 242. Thefirst assembling body 240 includes a first assembling surface 2400, afirst side surface 2401 and a second side surface 2402. The first sidesurface 2401 is opposite to the second side surface 2402. The firstassembling surface 2400 is connected between the first side surface 2401and the second side surface 2402. The first assembling surface 2400 isconfigured to be attached to the first mounting surface 1800 of thefirst mounting portion 18. Positioning holes 243 and connecting holes244 are formed on the first assembling surface 2400. The positioningholes 243 match the positioning beam 182 of the first mounting portion18 and are configured to be inserted by the positioning beam 182. Aquantity of connecting holes 244 corresponds to a quantity of connectingrods 181. Each connecting hole 244 is configured to be inserted by acorresponding connecting rod 181. Rotating holes 245 are formed on thefirst side surface 2401. A quantity of rotating holes 245 corresponds tothe quantity of connecting holes 244. The second plug-connectionterminal 242 is disposed on the first assembling surface 2400. Thesecond plug-connection terminal 242 of the arm component 21 iselectrically connected to the second rotor motor 23.

Referring to FIG. 13 together, one of the rotating holes 245 is used asan example. The rotating hole 245 includes a rotation axis o, therotation axis o is set perpendicular to the pitch axis direction x andthe rotating hole 245 is in communication with a correspondingconnecting hole 244. The rotating hole 245 extends from the first sidesurface 2401 to the second side surface 2402. A hole wall of therotating hole 245 includes an annular stopper portion 2450 protrudingclose to the first side surface 2401. The annular stopper portion 2450is disposed around the rotation axis o and includes an arc-shaped bump2451 protruding toward the second side surface 2402. The arc-shaped bump2451 is disposed around the rotation axis o. An opening of the rotatinghole 245 on the second side surface 2402 is closed by a closure plate2452. The closure plate 2452 may be fixed on the second side surface2402 by using a threaded fastener.

Referring to FIG. 14 together, a quantity of eccentric wheels 241corresponds to the quantity of rotating holes 245. Each eccentric wheel241 is mounted in a corresponding rotating hole 245 for locking acorresponding connecting rod 181. Using an eccentric wheel 241 as anexample, the eccentric wheel 241 includes a rotating wheel 2410, a boss2411 and an interference portion 2412. The rotating wheel 2410 isdisposed around the rotation axis o. A cavity 2413 is formed in therotating wheel 2410 and used for accommodating the limiting body 1812.The rotating wheel 2410 includes a first end surface 2414, a second endsurface 2415 and a cylindrical surface 2416. The first end surface 2414is opposite to the second end surface 2415. The cylindrical surface 2416is disposed around the rotation axis o and is connected between thefirst end surface 2414 and the second end surface 2415. An arc-shapedguide groove 2417 and an avoidance groove 2418 are formed on thecylindrical surface 2416. The arc-shaped guide groove 2417 is incommunication with the cavity 2413 and is provided around the rotationaxis o. The arc-shaped guide groove 2417 includes a first end and asecond end. The arc-shaped guide groove 2417 is configured for the rodbody 1811 to rotate along the arc-shaped guide groove 2417 around therotation axis o and is configured to prevent the limiting body 1812 frommoving in the pitch axis direction x. The avoidance groove 2418 is incommunication with the cavity 2413 and a first end of the arc-shapedguide groove 2417. The avoidance groove 2418 is configured for thelimiting body 1812 to pass through. The boss is formed in the center ofthe first end surface 2414. A groove 2419 configured to be screwed by ascrewdriver is formed on a surface of the boss 2411 facing away from thefirst end surface 2414. The groove 2419 is, for example, a straight linegroove, a cross groove, a Torx groove or a hexagon socket groove and isa straight line groove in the figure. The boss 2411 includes aninterference portion 2412 protruding in a direction perpendicular to therotation axis o.

A process of mounting the eccentric wheel 241 on the rotating hole 245is described below.

The eccentric wheel 241 is inserted into the rotating hole 245 after thefirst end surface 2414 of the rotating wheel 2410 is aligned with anopening of the rotating hole 245 provided on the second side surface2402. After the eccentric wheel 241 is fully inserted into the rotatinghole 245, first, the first end surface 2414 of the rotating wheel 2410abuts against the arc-shaped bump 2451 and/or the interference portion2412 abuts against the annular stopper portion 2450; secondly, thecylindrical surface 2416 is sleeved on the hole wall of the rotatinghole 245; thirdly, the connecting hole 244 in communication with therotating hole 245 is aligned with the arc-shaped guide groove 2417 orthe avoidance groove 2418; and fourthly, the boss 2411 is exposed froman opening of the rotating hole 245 provided on the first side surface2401. Then, the closure plate 2452 is mounted on the second side surface2402. The closure plate 2452 abuts against the second end surface 2415of the rotating wheel 2410 after the closure plate 2452 is mounted onthe second side surface 2402. In this case, the eccentric wheel 241 ismounted on the rotating hole 245.

After the eccentric wheel 241 is mounted on the rotating hole 245, theeccentric wheel 241 may only be rotated around the rotation axis obetween a first rotation position and a second rotation position in therotating hole 245. An assembling relationship between the eccentricwheel 241 and the rotating hole 245 is described below to explain whythe eccentric wheel 241 may only be rotated around the rotation axis obetween the first rotation position and the second rotation position inthe rotating hole 245.

The first end surface 2414 of the rotating wheel 2410 abuts against thearc-shaped bump 2451 and/or the interference portion 2412 abuts againstthe annular stopper portion 2450; and the second end surface 2415 of therotating wheel 2410 abuts against the closure plate 2452, so thatdegrees of freedom except two degrees of freedom of moving the eccentricwheel 241 in the direction perpendicular to the rotation axis o and onedegree of freedom of rotating around the rotation axis o are limited. Inaddition, the cylindrical surface 2416 of the rotating wheel 2410 issleeved on the hole wall of the rotating hole 245, so that the twodegrees of freedom of moving the eccentric wheel 241 in the directionperpendicular to the rotation axis o are further limited. In addition,when the eccentric wheel 241 is rotated around the rotation axis o, thearc-shaped bump 2451 will stop the interference portion 2412 to preventthe eccentric wheel 241 from continuing to rotate. Based on the above,the eccentric wheel 241 may only be rotated around the rotation axis obetween the first rotation position and the second rotation position inthe rotating hole 245. When the eccentric wheel 241 is rotated to thefirst rotation position, the interference portion 2412 abuts against anend of the arc-shaped bump 2451 and the avoidance groove 2418 is alignedwith the connecting hole 244. When the eccentric wheel 241 is rotated tothe second rotation position, the interference portion 2412 abutsagainst an other end of the arc-shaped bump 2451 and a second end of thearc-shaped guide groove 2417 is aligned with the connecting hole 244.

How to connect the rotor assembly 20 to the airframe 10 is describedbelow.

The first mounting portion is connected to the first assembling portion.The positioning beam 182 is aligned with and inserted into thepositioning hole 243. When the positioning beam 182 is fully insertedinto the positioning hole 243, first, each connecting rod 181 isautomatically aligned with and inserted into a corresponding connectinghole 244; and secondly, the first plug-connection terminal 183 isautomatically aligned with and plug-connected to the secondplug-connection terminal 242.

When the connecting rod 181 is inserted into the connecting hole 244,the eccentric wheel 241 is rotated to the first rotation position andthe avoidance groove 2418 of the eccentric wheel 241 is aligned with theconnecting hole 244. The limiting body 1812 of the connecting rod 181sequentially passes through the connecting hole 244 and the avoidancegroove 2418. After the connecting rod 181 is fully inserted into theconnecting hole 244, the limiting body 1812 of the connecting rod 181 isaccommodated in the cavity 2413 of the eccentric wheel 241 and the rodbody 1811 of the connecting rod 181 is located in the avoidance groove2418.

After the positioning beam 182 is fully inserted into the positioninghole 243, first, the each connecting rod 181 is also fully inserted intothe corresponding connecting hole 244; secondly, the firstplug-connection terminal 183 is also fully plug-connected to the secondplug-connection terminal 242; and thirdly, the first mounting surface1800 is in contact with the first assembling surface 2400. Then, theeccentric wheel 241 is rotated to the second rotation position. The rodbody 1811 is located at the second end of the arc-shaped guide groove2417 of the eccentric wheel 241. In this case, the rotor assembly 20 isconnected to the airframe 10.

After the rotor assembly 20 is connected to the airframe 10, the rotorassembly 20 and the airframe 10 are fixed to each other. An assemblingrelationship between the rotor assembly 20 and the airframe 10 isdescribed below to explain why the rotor assembly 20 and the airframe 10are fixed to each other.

The positioning beam 182 is inserted into the positioning hole 243, thepositioning beam 182 and the positioning hole 243 are matched with eachother and a cross-section of the positioning beam 182 is square.Therefore, other degrees of freedom except a degree of freedom of movingthe arm component 21 in the pitch axis direction x are limited. Inaddition, the arc-shaped guide groove 2417 prevents the limiting body1812 from retreating from the cavity 2413 and cooperates with the firstmounting surface 1800 to abut against the first assembling surface 2400,so that the degree of freedom of moving the arm component 21 in thepitch axis direction x is limited.

It may be understood that, the quantity of connecting rods 181 is notlimited to 2, which may be set according to an actual condition. Forexample, if the airframe 10 is lighter or the airframe 10 has less load,the quantity of connecting rods 181 may be smaller, or otherwise, thequantity of connecting rods 181 may be larger.

In some other embodiments, the first assembling portion of the armcomponent is plug-connected to and is fixed, by using a threadedfastener, to a corresponding first mounting portion.

A specific working process of the multi-rotor unmanned aerial vehicle isas follows:

Two first rotor motors 14 and second rotor motors 23 of two armcomponents 21, namely a total of four rotor motors, jointly work toprovide lift for vertical take-off and landing of the multi-rotorunmanned aerial vehicle. The four rotor motors are differentiallycontrolled to provide the multi-rotor unmanned aerial vehicle with pitchcontrol, roll control, yaw control and omnidirectional flight. Inaddition, the lower vertical stabilizer 16 may further ensure stable yawof the multi-rotor unmanned aerial vehicle.

In some embodiments, a size of the first propeller mounted on the firstrotor motor 14 is equal to a size of the second propeller mounted on thesecond rotor motor 23. In actual application, designing the firstpropeller and the second propeller into propellers in large sizes mayensure vertical take-off and landing of the multi-rotor unmanned aerialvehicle with heavy load.

Referring to FIG. 15 and FIG. 16, the fixed-wing assembly 30 includestwo side wing components 31. Using one of the side wing components 31 asan example, the side wing component 31 includes a side wing body 32, awingtip 33, a third rotor motor 34, a tilt motor (not shown in thefigure) and a second assembling portion 35. The side wing body 32extends in the pitch axis direction x. One end of the side wing body 32is connected to the wingtip 33 and an other end of the side wing body 32is connected to the second assembling portion 35. The tilt motor ismounted on the side wing body 32 and is connected to the wingtip 33. Thethird rotor motor 34 is mounted on the wingtip 33. The wingtip 33 isrotatable relative to the side wing body 32 around the pitch axisdirection x, so that the third rotor motor 34 mounted on the wingtip 33is rotatable between a first tilt position and a second tilt positionaround the pitch axis direction x. The tilt motor is configured to drivethe wingtip 33 to rotate around the pitch axis direction x.

As shown in FIG. 15, when the third rotor motor 34 is tilted to thefirst tilt position, the wingtip 33 is substantially level with the sidewing body 32. As shown in FIG. 16, when the third rotor motor 34 istilted to the second tilt position, the wingtip 33 is substantiallyorthogonal to the side wing body 32.

A rotary shaft of the third rotor motor 34 is disposed perpendicular tothe pitch axis direction x and a third propeller (not shown in thefigure) is mounted on the rotary shaft of the third rotor motor 34. Whenthe third rotor motor 34 is tilted to the first tilt position, therotary shaft of the third rotor motor 34 is substantially rotated in theroll axis direction y to provide thrust. When the third rotor motor 34is tilted to the second tilt position, the rotary shaft of the thirdrotor motor 34 is substantially rotated in the yaw axis direction z toprovide lift.

The second assembling portion 35 is configured to be connected to acorresponding first mounting portion 18. A structure of the secondassembling portion 35 is similar to a structure of the first assemblingportion 24. To be specific, either of the second assembling portion 35and the first assembling portion 24 includes a first first assemblingbody 240, eccentric wheels 241 and a second plug-connection terminal242. For the structure of the first assembling portion 24, reference maybe made to FIG. 12 again and details will not be repeated herein. Thesecond plug-connection terminal 242 of the side wing component 31 iselectrically connected to the tilt motor and the third rotor motor 34.

How to connect the fixed-wing assembly 30 to the airframe 10 isdescribed below.

The first mounting portion is connected to the second assemblingportion. A process of mounting the second assembling portion on thefirst mounting portion is similar to the process of mounting the firstassembling portion on the first mounting portion because structures ofthe second assembling portion and the first assembling portion aresimilar. Details will not be repeated herein.

Referring to FIG. 17 together, the tail wing assembly 40 includes tailwing components 41, a rotary shaft 42 and a transmission shaft 43. Aquantity of tail wing components 41 corresponds to a quantity of secondmounting portions 19. One of the tail wing components 41 is used as anexample. The tail wing component 41 includes a second assembling surface410. The second assembling surface 410 is disposed substantiallyperpendicular to the pitch axis direction x. A first plug-connectionhole 44 and a second plug-connection hole 45 are formed on the secondassembling surface 410. Both the first plug-connection hole 44 and thesecond plug-connection hole 45 are provided in the pitch axis directionx and are respectively configured to be plug-connected to an end of therotary shaft 42 and an end of the transmission shaft 43.

A process of connecting the tail wing assembly 40 to the airframe 10 isdescribed below.

The rotary shaft 42 is inserted into the shaft hole 191 and has two endsboth exposed outside the shaft hole 191. In addition, the transmissionshaft 43 is inserted into the arc-shaped guide hole 192 and has two endsboth exposed outside the arc-shaped guide hole 192. After the rotaryshaft 42 and the transmission shaft 43 are mounted, the firstplug-connection hole 44 of each tail wing component 41 is configured tobe inserted by an end of a corresponding rotary shaft 42; and further,the second plug-connection hole 45 of the each tail wing component 41 isconfigured to be inserted by an end of a corresponding transmissionshaft 43. The second assembling surface 410 of the each tail wingcomponent 41 is in contact with a second mounting surface 190 of acorresponding second mounting portion 19 after the first plug-connectionhole 44 of the each tail wing component 41 is fully inserted by the endof the corresponding rotary shaft 42 and the second plug-connection hole45 of the each tail wing component 41 is fully inserted by the end ofthe corresponding transmission shaft 43. In this case, the tail wingassembly 40 is connected to the airframe 10.

After the tail wing assembly 40 is connected to the airframe 10, thetransmission shaft 43 is rotated along the arc-shaped guide hole 192around the pitch axis direction x to drive two tail wing components 41to rotate around the rotary shaft 42. In some embodiments, a drive motor(not shown in the figure) configured to drive the transmission shaft 43to rotate around the pitch axis direction x is disposed in the lowervertical stabilizer 16. The drive motor is connected to the transmissionshaft 43 by using a transmission mechanism such as a connecting rod.

A specific working process of the vertical take-off and landingfixed-wing unmanned aerial vehicle is as follows:

During vertical take-off and landing, two first rotor motors 14 providelift and pitch control. Third rotor motors 34 of two side wingcomponents 31 are tilted to the second tilt position to provideauxiliary lift. The third rotor motors 34 of the two side wingcomponents 31 are differentially controlled and tilt motors of the twoside wing components 31 are tilted and differentially controlled toprovide roll control and yaw control.

During enduring flight, the two first rotor motors 14 stop working, sidewing bodies 32 of the two side wing components 31 provide lift and twotail wing components 41 provide pitch control. The third rotor motors 34of the two side wing components 31 are tilted to the first tilt positionto provide thrust. The third rotor motors 34 of the two side wingcomponents 31 are differentially controlled and tilt motors of the twoside wing components 31 are tilted and differentially controlled toprovide roll control and yaw control.

Compared with the prior art, in the unmanned aerial vehicle 100 providedin the embodiments of the present application, the fixed-wing assembly30 and the rotor assembly 20 are replaceably connected to the airframe10, the fixed-wing assembly 30 is connected to the airframe 10 to formthe vertical take-off and landing fixed-wing unmanned aerial vehicle andthe rotor assembly 20 is connected to the airframe 10 to form themulti-rotor unmanned aerial vehicle, thereby implementing an unmannedaerial vehicle that can switch between the vertical take-off and landingfixed-wing unmanned aerial vehicle and the multi-rotor unmanned aerialvehicle.

Finally, it should be noted that the foregoing embodiments are merelyused for describing technical solutions of the present application, butare not intended to limit the present application. Under the concept ofthe present application, the technical features in the foregoingembodiments or different embodiments may be combined, the steps may beimplemented in any sequence, and there may be many other changes indifferent aspects of the present application. For brevity, those are notprovided in detail. Although the present application is described indetail with reference to the foregoing embodiments, a person of ordinaryskill in the art should understand that they may still makemodifications to the technical solutions described in the foregoingembodiments or make equivalent replacements to some technical featuresthereof, without departing from the scope of the technical solutions ofthe embodiments of the present application.

What is claimed is:
 1. An unmanned aerial vehicle, comprising: anairframe; and a fixed-wing assembly and a rotor assembly, bothreplaceably connected to the airframe, wherein the fixed-wing assemblyis connected to the airframe to form a vertical take-off and landingfixed-wing unmanned aerial vehicle and the rotor assembly is connectedto the airframe to form a multi-rotor unmanned aerial vehicle.
 2. Theunmanned aerial vehicle according to claim 1, wherein the airframeextends in a roll axis direction and comprises a vehicle head, a vehiclebody and a vehicle tail sequentially arranged in the roll axisdirection.
 3. The unmanned aerial vehicle according to claim 2, whereinfirst rotor motors are disposed on a side of the airframe in a yaw axisdirection of the airframe; and a rotary shaft of the first rotor motorextends in the yaw axis direction.
 4. The unmanned aerial vehicleaccording to claim 3, wherein two first rotor motors are disposed on theside of the airframe in the yaw axis direction of the airframe; and oneof the first rotor motors is disposed at the vehicle head or at aposition on the vehicle body close to the vehicle head and the otherfirst rotor motor is disposed at the vehicle tail or at a position onthe vehicle body close to the vehicle tail.
 5. The unmanned aerialvehicle according to claim 4, wherein two antennas are further disposedon the side on which the first rotor motors are disposed in the yaw axisdirection of the airframe; and the two antennas and the two first rotormotors are all arranged in the roll axis direction and the antennas andthe first rotor motors are disposed alternately.
 6. The unmanned aerialvehicle according to claim 3, wherein a lower vertical stabilizer isdisposed on an other side of the airframe facing away from the firstrotor motors in the yaw axis direction of the airframe; and the lowervertical stabilizer is disposed at the vehicle tail.
 7. The unmannedaerial vehicle according to claim 6, wherein a landing gear is furtherdisposed on the other side of the airframe facing away from the firstrotor motors in the yaw axis direction of the airframe; and the landinggear comprises two support portions and the two support portions and thelower vertical stabilizer are jointly configured to support theairframe.
 8. The unmanned aerial vehicle according to claim 6, whereinthe airframe comprises two first mounting portions respectively disposedon two sides of the airframe in a pitch axis direction of the airframe;the rotor assembly comprises two arm components, wherein each armcomponent comprises a first assembling portion, the first assemblingportion being configured to be connected to a corresponding secondmounting portion; and the fixed-wing assembly comprises two side wingcomponents, wherein each side wing component comprises a secondassembling portion, the second assembling portion being configured to beconnected to a corresponding first mounting portion.
 9. The unmannedaerial vehicle according to claim 8, wherein the each arm componentfurther comprises an arm body and a second rotor motor; and an end ofthe arm body is connected to the first assembling portion and an otherend of the arm body is connected to the second rotor motor.
 10. Theunmanned aerial vehicle according to claim 9, wherein the arm bodyextends in the pitch axis direction.
 11. The unmanned aerial vehicleaccording to claim 9, wherein a rotary shaft of the second rotor motorextends in the yaw axis direction.
 12. The unmanned aerial vehicleaccording to claim 9, wherein a second propeller is mounted on therotary shaft of the second rotor motor; a first propeller is mounted onthe rotary shaft of the first rotor motor; and a size of the secondpropeller is equal to a size of the first propeller.
 13. The unmannedaerial vehicle according to claim 8, wherein the each side wingcomponent further comprises a side wing body, a wingtip and a thirdrotor motor; an end of the side wing body is connected to the secondassembling portion, an other end of the side wing body is connected tothe wingtip and the third rotor motor is mounted on the wingtip; and thewingtip is rotatable relative to the side wing body around the pitchaxis direction.
 14. The unmanned aerial vehicle according to claim 13,wherein a rotary shaft of the third rotor motor is perpendicular to thepitch axis direction.
 15. The unmanned aerial vehicle according to claim13, wherein the side wing body extends in the pitch axis direction. 16.The unmanned aerial vehicle according to claim 13, wherein a thirdpropeller is mounted on a rotary shaft of the third rotor motor; a firstpropeller is mounted on the rotary shaft of the first rotor motor; and asize of the third propeller is less than a size of the first propeller.17. The unmanned aerial vehicle according to claim 8, wherein each firstmounting portion comprises a first mounting surface and connecting rodsformed on the first mounting surface, the first mounting surface facingaway from the vehicle body, the connecting rods extending in the pitchaxis direction; and either of each first assembling portion and eachsecond assembling portion comprises a first assembling surface, a firstside surface and eccentric wheels, wherein the first assembling surfaceis configured to be attached to the first mounting surface andconnecting holes are formed on the first assembling surface, theconnecting holes being configured to be inserted by the connecting rods;the first side surface is adjacent to the first assembling surface androtating holes are formed on the first side surface, the rotating holecomprising a rotation axis, the rotation axis being perpendicular to thepitch axis direction; and the eccentric wheels are mounted in therotating holes and are rotatable in the rotating holes around therotation axis and the eccentric wheels are configured to lock theconnecting rods to limit movement of the connecting rods in the pitchaxis direction away from the eccentric wheels.
 18. The unmanned aerialvehicle according to claim 17, wherein the each first mounting portionfurther comprises positioning beams formed on the first mounting surfaceand extending in the pitch axis direction, a cross-section of thepositioning beam being non-circular; and positioning holes are furtherformed on the first assembling surface, the positioning holes matchingthe positioning beams and being configured to be inserted by thepositioning beams.
 19. The unmanned aerial vehicle according to claim17, wherein the each first mounting portion further comprises a firstplug-connection terminal disposed on the first mounting surface; andeither of the each first assembling portion and the each secondassembling portion further comprises a second plug-connection terminalconfigured to be plug-connected to the first plug-connection terminal.20. The unmanned aerial vehicle according to claim 8, wherein the firstmounting portion is plug-connected to and is fixed, by using a threadedfastener, to the first assembling portion and/or the second assemblingportion.
 21. The unmanned aerial vehicle according to claim 6, whereinthe unmanned aerial vehicle further comprises a tail wing assemblydetachably connected to the airframe; and both the lower verticalstabilizer and the fixed-wing assembly are connected to the airframe toform the vertical take-off and landing fixed-wing unmanned aerialvehicle.
 22. The unmanned aerial vehicle according to claim 21, whereinthe tail wing assembly is rotatable relative to the airframe around thepitch axis direction when the tail wing assembly is connected to theairframe.
 23. The unmanned aerial vehicle according to claim 22, whereintwo second mounting portions are disposed on the airframe; the twosecond mounting portions are respectively disposed on two sides of theairframe in the pitch axis direction of the airframe, each of the secondmounting portions comprises a second mounting surface, and a shaft holeand an arc-shaped guide hole are jointly formed on the two secondmounting portions, both the shaft hole and the arc-shaped guide holepassing through second mounting surfaces of the two second mountingportions, the shaft hole being provided in the pitch axis direction andthe arc-shaped guide hole being provided around the shaft hole; the tailwing assembly comprises a rotary shaft, a transmission shaft and twotail wing components; and the rotary shaft is configured to be insertedinto the shaft hole and has two ends both exposed outside the shafthole; the transmission shaft is configured to be inserted into thearc-shaped guide hole has two ends both exposed outside the arc-shapedguide hole; each tail wing component comprises a second assemblingsurface for being in contact with a second mounting surface of acorresponding second mounting portion, a first plug-connection hole anda second plug-connection hole being formed on the second assemblingsurface, the first plug-connection hole being configured to be insertedby a corresponding end of the rotary shaft and the secondplug-connection hole being configured to be inserted by a correspondingend of the transmission shaft.